CN107228665B - A kind of hybrid Inertial Platform System - Google Patents
A kind of hybrid Inertial Platform System Download PDFInfo
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- CN107228665B CN107228665B CN201710324364.9A CN201710324364A CN107228665B CN 107228665 B CN107228665 B CN 107228665B CN 201710324364 A CN201710324364 A CN 201710324364A CN 107228665 B CN107228665 B CN 107228665B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The present invention relates to a kind of hybrid Inertial Platform System, the gyroscope combination of the platform uses the mixed mode of operation of the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations and the MEMS gyroscope of 3 orthogonal installations to control and monitor the movement in platform stage body relative inertness space；Furthermore, on each frame of platform and pedestal, it is separately installed with 3 orthogonal MEMS gyroscopes, to the measurement to platform each section posture angular movement full information, the present invention uses the hybrid working method of different type gyroscope, realize the measurement to Inertial Platform, frame, pedestal angular speed, the working method of plateform system and strapdown system is effectively unified, the full attitude motion of carrier and the requirement of high reliability can be met, and provide means of testing and data support for the control of plateform system multi-information fusion.
Description
Technical field
The present invention relates to a kind of hybrid Inertial Platform Systems more particularly to a kind of full attitude maneuver of adaptation carrier to run,
The Inertial Platform System of multi-information fusion control, is applicable to ballistic missile, cruise missile, fighter plane of posture to be demanded perfection etc.,
Belong to inertial survey technique field.
Background technique
On the carrier that ballistic missile or fighter plane etc. require high maneuver, the gyroscope of High Accurate Inertial Platform system is current
Mainly using liquid floated gyroscope, static pressure liquid floated gyroscope, three float-type gyroscopes and dynamically tuned gyro, DTG etc., plateform frame structure is
Four axis form of two frames, three axis form or three frames.
In the platform scheme disclosed in Chinese Yuhang Publishing House " inertia device ", platform all uses 3 single-degree-of-freedom products
Divide gyroscope scheme or 2 two-freedom dynamically tuned gyro, DTG schemes, frame structure is two frames, three axis form or three frames
The advantages of four axis forms, these schemes is that instrument arrangement is simple, and structure is uncomplicated, but the disadvantage is that is not able to satisfy the full appearance of carrier
State movement, for example, two frame three-axis platforms are when internal frame angle works in 90 ° or the outer framework angle of three frame four axis platforms
It when working in 90 °, can all cause frame " losing lock ", rotate so as to cause stage body relative inertness space.
For the generation for avoiding frame " losing lock ", current solution is the motion profile for limiting carrier, for example, ballistic
The track of guided missile is parabola, and yaw angle variation less, therefore, can make the inner frame angle sensitive carrier of two frame three-axis platforms
Yaw angle.But the scheme of this limitation carrier track is not able to satisfy the development trend of high maneuver, quick response increasingly.
Moreover, the requirement with modern war to inertial platform precision and reliability is higher and higher, and previous inertia is flat
Platform control mode, motion information obtain and in terms of it is more single.For example, plateform system information measurement is stage body angle position
It sets, by obtaining angular speed to its differential, data noise is relatively large, influences to control precision；Platform framework and pedestal angular movement
Information can not obtain, and control loop available information is less etc..
For this reason, it may be necessary to study the full attitude solutions that inertial platform is not influenced by carrier movement, and increase each portion of plateform system
The measurement means of subangle motion information meet the needs of full posture of the following inertial platform, multi-information fusion control.
Summary of the invention
It is an object of the invention to overcome the drawbacks described above of the prior art, a kind of hybrid Inertial Platform System is provided, it should
Inertial Platform System has the advantages that full posture, high maneuver, high-precision, the full posture of the following inertial platform of satisfaction, multi-information fusion
The demand of control.
What above-mentioned purpose of the invention was mainly achieved by following technical solution:
A kind of hybrid Inertial Platform System, including the gyroscope combination installed on stage body and stage body, the gyroscope group
Closing includes the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations and the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations, and described 3
The shaft end motor of the single-degree-of-freedom integrating gyroscope control stage body of a orthogonal installation, stablizes stage body in inertial space, and described 3
The angular speed in the single-degree-of-freedom MEMS gyroscope measurement stage body relative inertness space of orthogonal installation, gives in real time after posture renewal
Changes in coordinates matrix of the stage body relative to inertial coodinate system out.
In above-mentioned Inertial Platform System, on each frame and pedestal of the Inertial Platform System, it is separately installed with 3
Orthogonal single-degree-of-freedom MEMS gyroscope, for measuring the angular movement information of each frame of Inertial Platform System and pedestal.
It further include accelerometer combination in above-mentioned Inertial Platform System, on the stage body, the accelerometer combination packet
4 quartz accelerometers are included, wherein the orthogonal installation of 3 quartz accelerometers constitutes input axis of accelerometer coordinate system, the 4th stone
The tilting installation in the input axis of accelerometer coordinate system of English accelerometer；The input axis of accelerometer coordinate system and stage body
Coordinate system OXYZ is overlapped.
In above-mentioned Inertial Platform System, the input shaft of the quartz accelerometer of the 4th tilting installation with other 3
The angle of the input shaft of quartz accelerometer is identical.
In above-mentioned Inertial Platform System, the absolute value of the cosine value of the angle is
In above-mentioned Inertial Platform System, the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations, wherein 1 gyro
The input shaft of instrument is parallel with the stage body axis Z in stage body coordinate system OXYZ, in addition the input shaft of 2 gyroscopes respectively with stage body axis Z
Vertical and the two is mutually perpendicular to, and constitutes gyroscope combination input axis coordinate system.
In above-mentioned Inertial Platform System, the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations, one of MEMS
The input shaft of gyroscope is parallel with the stage body axis Z in stage body coordinate system OXYZ, in addition the input shaft of 2 MEMS gyroscopes respectively with
Stage body axis Z is vertical and the two is mutually perpendicular to, and constitutes MEMS gyroscope combination input axis coordinate system.
In above-mentioned Inertial Platform System, the single-degree-of-freedom MEMS gyroscope measurement stage body of 3 orthogonal installations is opposite
The angular speed of inertial space, providing the posture in stage body relative inertness space in real time after posture renewal, the specific method is as follows:
(1) the initial value ρ of quaternary number is provided0、ρ1、ρ2、ρ3；
(2) stage body is stablized in inertial space, hasWhen stage body relative inertness spatial rotational, have WithIt is obtained by single-degree-of-freedom MEMS gyroscope measurement；
Wherein:For the angular speed of stage body Z axis in stage body coordinate system OXYZ,For stage body X in stage body coordinate system OXYZ
The angular speed of axis,For the angular speed of stage body Y-axis in stage body coordinate system OXYZ；
(3) one group of new quaternary number ρ is obtained by following posture renewal equation0、ρ1、ρ2、ρ3:
(4) according to described one group new quaternary number ρ0、ρ1、ρ2、ρ3Obtain changes in coordinates of the stage body relative to inertial coodinate system
MatrixIt is specific as follows:
(5) next navigation moment, one group of new quaternary number ρ that step (3) is obtained0、ρ1、ρ2、ρ3As the first of quaternary number
Value, returns to step (2), recycles according to this, until navigation task terminates.
In above-mentioned Inertial Platform System, 4 quartz accelerometers on the stage body, when wherein any one quartz plus
When speedometer breaks down, the measurement of the apparent acceleration in stage body relative inertness space is realized in remaining 3 quartz accelerometer cooperation.
In above-mentioned Inertial Platform System, the single-degree-of-freedom integrating gyroscopes of 3 orthogonal installations be liquid floated gyroscope,
Static pressure liquid floated gyroscope or three float-type gyroscopes.
The advantages of present invention is compared with prior art is as follows:
(1) the hybrid Inertial Platform System gyroscope combination of the present invention integrates top using the single-degree-of-freedom of 3 orthogonal installations
The mixed mode of operation of spiral shell instrument and the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations (containing rebalance loop)；Furthermore in inertia
On each frame of platform and pedestal, 3 orthogonal MEMS gyroscopes are separately installed with, to platform each section posture angular movement
The measurement of full information, the present invention use the hybrid working method of different type gyroscope, realize to Inertial Platform, frame
The working method of plateform system and strapdown system has effectively been unified in the measurement of frame, pedestal angular speed, can meet the full posture of carrier
The requirement of movement and high reliability, and means of testing and data support are provided for the control of plateform system multi-information fusion；
(2) present invention is directed to Inertial Platform System, by introducing MEMS gyroscope, measures carrier speed in real time, and calculate
The posture in stage body relative inertness space, at platform framework " losing lock ", using MEMS gyroscope, by working platform in strapdown side
Formula fundamentally solves the problems, such as the full gesture stability of platform, meets the requirement of the full posture of carrier；
(3) present invention realizes the angular movement information to each frame and pedestal using the MEMS gyro on frame and pedestal
Measurement, institute's measured data can not only be used for the analysis and monitoring foundation of platform motion state, it can also be used to realize plateform system multi information
Fused controlling improves inertial platform precision and reliability.
(4) present invention uses quartz accelerometer redundancy approach, in original there are three on the basis of accelerometer, increases by one
The accelerometer of tilting installation, when wherein any 1 accelerometer breaks down, remaining 3 quartz accelerometer reconstruct is matched
Close realize stage body relative inertness space apparent acceleration measurement, the method achieve quartz accelerometer fault diagnosis with it is fault-tolerant
Processing, improves the reliability level of system, and furthermore the present invention gives the best mounting means of tilting accelerometer, into one
Step improves the Performance And Reliability of plateform system.
(5) instrument redundancy Inertial Platform System of the present invention, be applicable to the ballistic missile of posture to be demanded perfection, cruise missile,
Fighter plane etc. has wide application field and application prospect.
Detailed description of the invention
Fig. 1 is the hybrid Inertial Platform System composition schematic diagram of the present invention；
Fig. 2 is each gyroscope of Inertial Platform of the present invention, accelerometer polar configurations schematic diagram.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
It is as shown in Figure 1 the hybrid Inertial Platform System composition schematic diagram of the present invention, the hybrid inertial platform system of the present invention
System includes the gyroscope combination installed on stage body and stage body, and gyroscope combination includes that the single-degree-of-freedom of 3 orthogonal installations integrates top
Spiral shell instrument and the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations (including rebalance loop).As shown in Figure 1,3 orthogonal installations
Single-degree-of-freedom integrating gyroscope Gx、GyAnd Gz, the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations is also mounted on stage body, i.e.,
MEMS.The single-degree-of-freedom integrating gyroscope of 3 orthogonal installations is sensitive as the stage body angular movement of Inertial Platform System servo loop
Element controls the shaft end motor of stage body, stablizes stage body in inertial space in stable loop work.The list of 3 orthogonal installations
Freedom degree MEMS gyroscope measures the angular speed in stage body relative inertness space, and it is relatively used to provide stage body in real time after posture renewal
The posture in property space, i.e. changes in coordinates matrix of the stage body relative to inertial coodinate system.The single-degree-of-freedom of 3 orthogonal installations integrates top
Spiral shell instrument can be liquid floated gyroscope, static pressure liquid floated gyroscope or three float-type gyroscopes.
It is illustrated in figure 2 each gyroscope of Inertial Platform of the present invention, accelerometer polar configurations schematic diagram.3 orthogonal
The single-degree-of-freedom integrating gyroscope G of installationx、GyAnd Gz, wherein 1 gyroscope GzInput shaft IzIn stage body coordinate system OXYZ
Stage body axis Z is parallel, in addition 2 gyroscope Gx、GyInput shaft Ix、IyAnd the two vertical with stage body axis Z is mutually perpendicular to respectively, structure
Input axis coordinate system is combined at gyroscope.The output of 3 single-degree-of-freedom integrating gyroscopes is acted on by decoupling control link
The shaft end motor of platform constitutes plateform system servo loop.Single-degree-of-freedom integrating gyroscope Gx、GyAnd GzOutput shaft be respectively
Ox、OyAnd Oz.The rotation overlapping of axles of OZ axis and stage body in stage body coordinate system OXYZ.
Input shaft definition and the 3 single-degree-of-freedom integrating gyroscopes one of the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations
It causes.The single-degree-of-freedom MEMS gyroscope of i.e. 3 orthogonal installations, the input shaft I of one of MEMS gyroscopez' and stage body coordinate
It is stage body axis Z in OXYZ parallel, the other input shaft I of 2 MEMS gyroscopesx'、Iy' and the two vertical with stage body axis Z respectively
It is mutually perpendicular to, constitutes MEMS gyroscope combination input axis coordinate system.MEMS gyroscope measures the angle speed in stage body relative inertness space
Degree, provides the posture in stage body relative inertness space in real time after posture renewal, that is, provides stage body relative to inertial coodinate system
Changes in coordinates matrix, the specific method is as follows:
(1) the initial value ρ of quaternary number is provided0、ρ1、ρ2、ρ3；
(2) stage body is stablized in inertial space, hasWhen stage body relative inertness spatial rotational, haveWithIt is obtained by single-degree-of-freedom MEMS gyroscope measurement；
Wherein:For the angular speed of stage body Z axis in stage body coordinate system OXYZ,For stage body X in stage body coordinate system OXYZ
The angular speed of axis,For the angular speed of stage body Y-axis in stage body coordinate system OXYZ；
(3) one group of new quaternary number ρ is obtained by following posture renewal equation0、ρ1、ρ2、ρ3:
(4) according to described one group new quaternary number ρ0、ρ1、ρ2、ρ3Obtain changes in coordinates of the stage body relative to inertial coodinate system
MatrixIt is specific as follows:
(5) next navigation moment, one group of new quaternary number ρ that step (3) is obtained0、ρ1、ρ2、ρ3As the first of quaternary number
Value, returns to step (2), i.e. repeatedly step (2)~(4), obtains another group of new quaternary number ρ0、ρ1、ρ2、ρ3, further
Changes in coordinates matrix to next navigation moment stage body relative to inertial coodinate systemStep (2) are returned again to later, are followed according to this
Ring obtains coordinate of the different navigation moment stage body relative to inertial coodinate system during navigation task until navigation task terminates
Transformation matrices.
If above-mentioned steps (2) stage body is stablized in inertial space, haveThen in loop calculation
Quaternary number ρ0、ρ1、ρ2、ρ3It is always the initial value of setting, i.e., all navigation moment, ρ0、ρ1、ρ2、ρ3It is constant for initialization, stage body
Changes in coordinates matrix R relative to inertial coodinate systemi pIt uniquely determines.
As described in Figure 1, hybrid Inertial Platform System includes stage body, each frame and pedestal.Each frame of inertial platform and
3 orthogonal single-degree-of-freedom MEMS gyroscopes are separately installed on pedestal, for measuring each frame of Inertial Platform System and base
The angular movement information of seat installs 3 orthogonal single-degree-of-freedoms in the embodiment of the present invention respectively on 3 frames and 1 pedestal
MEMS gyroscope, i.e., four groups orthogonal single-degree-of-freedom MEMS gyroscopes.One group of MEMS gyroscope in its working method and stage body
It is similar, by rebalance loop, the angular movement information of each frame and pedestal is measured respectively, institute's measured data reaches platform master
Circuit board is controlled, can not only be used for the analysis and monitoring foundation of platform motion state, while can also be used as control loop input and mending
It repays, realizes the control of plateform system multi-information fusion.
It further include accelerometer combination on stage body, accelerometer combines the acceleration information for measuring stage body, the present invention
Middle accelerometer combination includes 4 quartz accelerometers, wherein 3 quartz accelerometer Ax、AyAnd AzOrthogonal installation, which is constituted, to be accelerated
Degree meter input axis coordinate system, the 4th quartz accelerometer AdTilting installation, such as Fig. 1 in the input axis of accelerometer coordinate system
It is shown.The input axis of accelerometer coordinate system is overlapped with stage body coordinate system OXYZ.The quartz accelerometer A of tilting installationdIt can
Monitoring function is realized, when there are when failure, judge phenomenon of the failure in time and utilize tilting installation for the accelerometer of orthogonal installation
Quartz accelerometer AdInstead of the output of failure accelerometer than force information, guarantee the continual and steady output of carrier navigation information.
As shown in Fig. 2, 3 quartz accelerometer Ax、AyAnd AzInput shaft be respectively Ix、Iy、Iz, output shaft is respectively Ox、Oy、Oz, pendulum
Axis is respectively Px、Py、Pz, quartz accelerometer AdInput shaft, output shaft and balance staff be respectively IR、OR、PR。
The quartz accelerometer A of 4th tilting installation in the present inventiondInput shaft and other 3 quartz accelerometer Ax、
AyAnd AzInput shaft angle it is identical, the absolute value of the preferably cosine value of the angle is
As shown in Figure 1, needing to utilize 3 single-degree-of-freedom integrating gyroscopes to keep stage body relative inertness spatial stability
MEMS metrical information on output information, each frame angle information and frame and pedestal carries out signal decomposition, makes system by more
Variable interlinkage coupled system becomes independent single input output loop and realizes the compensation of dynamic error, and the controller after decoupling is made
Use the torque motor of each frame shaft end.But in frame lock timing, stage body relative inertness spatial rotational, dynamically tuned gyro, DTG is quick
Feel the angular speed of rotationPatent can acquire the coordinate transform of stage body relative inertness coordinate system according to the present invention
Matrix further can acquire three attitude angles by transformation matrix of coordinates.Meanwhile the specific force of 4 quartz accelerometers measurement is through holding
The wrong apparent acceleration value with the three-dimensional orthogonal for obtaining stage body coordinate system after conversion, the speed that is of must can navigate after coordinate transform with
Location parameter, the guidance for missile armament.
The hybrid Inertial Platform System of the present invention, gyroscope combination use the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations
Instrument (liquid floated gyroscope, static pressure liquid floated gyroscope or three float-type gyroscopes) and the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations (contain
Rebalance loop) mixed mode of operation；In addition, being separately installed with 3 orthogonal MEMS on each frame of platform and pedestal
Gyroscope, to the measurement to platform each section posture angular movement full information.
In the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations of stage body, the input shaft of 1 gyroscope is parallel with stage body axis,
And the two vertical with stage body axis is mutually perpendicular to other 2 input shafts respectively, constitutes gyroscope combination input axis coordinate system.3 lists
The output of freedom degree integrating gyroscope acts on the shaft end motor of platform by decoupling control link, constitutes plateform system and stablizes back
Road keeps platform stage body to stablize in inertial space when platform not " losing lock ".
Input shaft definition and the 3 single-degree-of-freedom integrating gyroscopes of the single-degree-of-freedom MEMS gyroscope of 3 orthogonal installations of stage body
Instrument is consistent, and each MEMS gyroscope is provided with a rebalance loop, with MEMS gyroscope collective effect, exports stage body phase in real time
To the angular speed of inertial space, and the posture in stage body relative inertness space is provided after posture renewal in real time.When platform is in
It when " losing lock " state, by working platform in strapdown mode, rotates together its stage body with carrier, while being exported using MEMS gyro
And posture renewal is as a result, obtain inertial coodinate system orientation by computer-solution, until platform exits " losing lock " state.
In order to meet the needs of inertial platform multi-information fusion control, inertial platform precision and reliability are improved, in platform
3 MEMS gyroscopes of orthogonal installation are distinguished on each frame and pedestal, working method is similar to gyroscope on stage body, by putting down again
Weighing apparatus circuit, respectively measures the angular movement information of each frame and pedestal, institute's measured data can not only be used for platform motion state
Analysis and monitoring foundation, while can also be used as control loop input and compensation, realize the control of plateform system multi-information fusion.
The present invention fundamentally solves high maneuver, full attitude tape comes to realize the function of the full gesture stability of plateform system
Platform framework " losing lock " phenomenon, following improve is made to plateform system control program:
(1) output of 3 single-degree-of-freedom integrating gyroscopes of stage body acts on the shaft end electricity of platform by decoupling control link
Machine constitutes plateform system stable loop.In order to realize the full gesture stability of platform, set between inner frame and outer framework stable loop
Full attitude signal decomposer is counted, using Design of Digital Circuit, effect is to arrive X, Y-direction single-degree-of-freedom gyroscopy sensitivity on stage body
Stage body rotate accurate projection to inner axle and outer annulate shaft.When platform not " losing lock ", working platform in stable inertia mode,
By single-degree-of-freedom gyroscopy and stable loop collective effect, platform stage body is kept to stablize in inertial space.
(2) 3 MEMS gyroscopes of stage body are each provided with a rebalance loop.Rebalance loop and MEMS gyroscope are total
Same-action, exports the angular speed in stage body relative inertness space in real time, and provides stage body relative inertness in real time after posture renewal
The posture in space.When platform is in " losing lock " state, losing lock direction stable loop no longer works, by working platform in strapdown side
Formula rotates together stage body with carrier, while using MEMS gyro output and posture renewal as a result, being used to by computer-solution
Property coordinate system orientation, until platform exits " losing lock " state.
Platform stance, which updates, uses Quaternion Algorithm: being initially aligned by platform first, provides quaternary number initial value ρ0、ρ1、
ρ2、ρ3, stage body revolving speed and quaternary number renewal equation are utilized later
Real-time resolving is carried out to the quaternary number of description stage body relative inertness spatial movement.
MEMS gyro is constantly in working condition in entire flight course, therefore posture renewal carries out always.Work as stage body
Stablize in inertial space, hasAnd when stage body relative inertness spatial rotational, haveAnd
WithIt is not zero, is obtained by MEMS gyroscope measurement, the changes in coordinates matrix for finally obtaining stage body relative inertness coordinate system is
(3) after platform exits " losing lock " state, platform restores stable inertia working method, before exiting " losing lock " state
Last moment stage body is maintained at inertial space and stablizes respectively to being oriented to new coordinate system benchmark；It is surveyed using MEMS gyro before this
The stage body rotation information obtained, obtains the orientation in current stage body relative inertness space, and navigate.
The above, a specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto, appoints
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, all by what those familiar with the art
It is covered by the protection scope of the present invention.
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (9)
1. a kind of hybrid Inertial Platform System, including the gyroscope combination installed on stage body and stage body, it is characterised in that: described
Gyroscope combination includes the single-degree-of-freedom integrating gyroscope of 3 orthogonal installations and the single-degree-of-freedom MEMS gyro of 3 orthogonal installations
Instrument, the shaft end motor of the single-degree-of-freedom integrating gyroscope control stage body of 3 orthogonal installations, stablizes stage body in inertia sky
Between, the angular speed in the single-degree-of-freedom MEMS gyroscope measurement stage body relative inertness space of 3 orthogonal installations, more by posture
Changes in coordinates matrix of the stage body relative to inertial coodinate system is provided in real time after new；
The angular speed in the single-degree-of-freedom MEMS gyroscope measurement stage body relative inertness space of 3 orthogonal installations, by posture
Providing the posture in stage body relative inertness space after update in real time, the specific method is as follows:
(1) the initial value ρ of quaternary number is provided0、ρ1、ρ2、ρ3；
(2) stage body is stablized in inertial space, hasWhen stage body relative inertness spatial rotational, have WithIt is obtained by single-degree-of-freedom MEMS gyroscope measurement；
Wherein:For the angular speed of stage body Z axis in stage body coordinate system OXYZ,For the angle of stage body X-axis in stage body coordinate system OXYZ
Speed,For the angular speed of stage body Y-axis in stage body coordinate system OXYZ；
(3) one group of new quaternary number ρ is obtained by following posture renewal equation0、ρ1、ρ2、ρ3:
(4) according to described one group new quaternary number ρ0、ρ1、ρ2、ρ3Obtain changes in coordinates matrix of the stage body relative to inertial coodinate systemIt is specific as follows:
(5) next navigation moment, one group of new quaternary number ρ that step (3) is obtained0、ρ1、ρ2、ρ3As the initial value of quaternary number, weight
New return step (2), recycles according to this, until navigation task terminates.
2. Inertial Platform System according to claim 1, it is characterised in that: each frame and base of the Inertial Platform System
On seat, 3 orthogonal single-degree-of-freedom MEMS gyroscopes are separately installed with, for measuring each frame of Inertial Platform System and pedestal
Angular movement information.
3. Inertial Platform System according to claim 1, it is characterised in that: further include accelerometer group on the stage body
It closes, the accelerometer combination includes 4 quartz accelerometers, wherein the orthogonal installation of 3 quartz accelerometers constitutes acceleration
Meter input axis coordinate system, the 4th quartz accelerometer tilting installation in the input axis of accelerometer coordinate system；The acceleration
Degree meter input axis coordinate system is overlapped with stage body coordinate system OXYZ.
4. Inertial Platform System according to claim 3, it is characterised in that: the quartz of the 4th tilting installation accelerates
The input shaft for spending meter is identical as the angle of the input shaft of other 3 quartz accelerometers.
5. Inertial Platform System according to claim 4, it is characterised in that: the absolute value of the cosine value of the angle is
6. Inertial Platform System according to claim 1, it is characterised in that: the single-degree-of-freedom product of 3 orthogonal installations
Point gyroscope, wherein the input shaft of 1 gyroscope is parallel with the stage body Z axis in stage body coordinate system OXYZ, other 2 gyroscopes
And the two vertical with stage body Z axis is mutually perpendicular to input shaft respectively, constitutes gyroscope combination input axis coordinate system.
7. Inertial Platform System according to claim 1 or 2, it is characterised in that: the single-degree-of-freedom of 3 orthogonal installations
The input shaft of MEMS gyroscope, one of MEMS gyroscope is parallel with the stage body Z axis in stage body coordinate system OXYZ, and in addition 2
And the two vertical with stage body Z axis is mutually perpendicular to the input shaft of MEMS gyroscope respectively, is constituted MEMS gyroscope combination input shaft and is sat
Mark system.
8. the Inertial Platform System according to one of claim 3-6, it is characterised in that: 4 quartz on the stage body add
Speedometer, when wherein any one quartz accelerometer breaks down, stage body phase is realized in remaining 3 quartz accelerometer cooperation
Measurement to the apparent acceleration of inertial space.
9. Inertial Platform System described in one of -6 according to claim 1, it is characterised in that: the list of 3 orthogonal installations is certainly
It is any one or a few combination in liquid floated gyroscope, static pressure liquid floated gyroscope or three float-type gyroscopes by degree integrating gyroscope.
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| CN110294414B (en) * | 2019-06-21 | 2020-07-28 | 上海理工大学 | Crane control method based on open-loop anti-swing control algorithm |
| CN112304310A (en) * | 2019-07-23 | 2021-02-02 | 南京航空航天大学 | Inertial navigation method based on gyroscope information |
| CN110631580B (en) * | 2019-08-22 | 2021-10-01 | 北京航天控制仪器研究所 | Uniaxial inertial platform system based on atomic spin gyroscope |
| CN110631575B (en) * | 2019-08-22 | 2021-09-07 | 北京航天控制仪器研究所 | Strapdown system based on atomic spin gyroscope |
| CN111006663B (en) * | 2019-11-28 | 2021-07-09 | 北京航天控制仪器研究所 | Three-axis inertial platform system based on SERF gyroscope and rate gyroscope |
| CN111006665B (en) * | 2019-11-29 | 2021-07-13 | 北京航天控制仪器研究所 | Atomic spin gyroscope strapdown system based on magnetic field feedback |
| CN111006664B (en) * | 2019-11-29 | 2021-03-26 | 北京航天控制仪器研究所 | Triaxial inertial platform system based on atomic spin gyroscope |
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